Supervisor is working

The supervisor for my autopilot is working. This is a fairly critical piece that runs on the AVR I/O board and handles the handover between the manual remote, the autopilot, and any safeties.

This means I have:

  • Multi-channel PWM input from the RC receiver.
    • A link with the Go based, BeagleBone hosted pilot that receives demands.
      • A state machine that handles remote to pilot handover.
        • Throttle shutdown on remote loss, pilot loss, and resume on low throttle.
          • And indicators for all.
          There’s many hacks, like using polling instead of triggering on an input cycle, but it’s getting closer to being safe to try on the real car.
Michael Hope
Software Engineer